Apparatus for switching driving mode of vehicle and method thereof

ABSTRACT

Systems and techniques are disclosed for switching a vehicle driving mode. A sensing unit senses a state of a driver of a vehicle configured to be driven automatically or manually. An intention detecting unit detects whether the driver intends to switch from an automatic driving mode to a manual driving mode based on the state of the driver. An operation detecting unit detects whether the driver is able to operate the vehicle in the manual driving mode based on the state of the driver. A driving state predicting unit predicts a driving state of the vehicle in the manual driving mode based on detecting that the driver is able to operate the vehicle in the manual driving mode. A control unit determines that the predicted driving state of the vehicle meets a preset condition and switches from the automatic to the manual driving mode.

CROSS-REFERENCE TO RELATED APPLICATION

Pursuant to 35 U.S.C. §119(a), this application claims the benefit ofearlier filing date and right of priority to Korean Application No.10-2015-0009399, filed on Jan. 20, 2015, the contents of which isincorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present disclosure relates to an apparatus for switching a drivingmode of a vehicle and a method thereof

2. Background of the Invention

In general, an autonomous vehicle recognizes a road situation such as aneighbor vehicle, a pedestrian, an obstacle, a traffic lane, a trafficsignal, and the like, through an advanced driving assist system (ADAS)attached thereto, and is automatically driven on the basis of therecognized information.

SUMMARY OF THE INVENTION

Therefore, an aspect of the detailed description has been made to solvethe above-mentioned problems and other problems.

Another aspect of the detailed description is to provide an apparatusfor switching a driving mode of a vehicle, capable of detecting adriver's intention to switch a vehicle to a manual driving mode,determining whether the vehicle can be safely operated in the manualdriving mode, and determining whether to switch the vehicle to themanual driving mode, and a method thereof.

To achieve these and other advantages and in accordance with the purposeof this specification, as embodied and broadly described herein, anapparatus for switching a driving mode of a vehicle may include: asensing configured to sense a state of a driver of a vehicle that can bedriven automatically or manually; a mode switching intention detectingunit configured to detect a mode switching intention of the driver toswitch a driving mode of the vehicle to a manual driving mode on thebasis of the state of the driver sensed when the vehicle is in anautomatic driving mode; an operation availability detecting unitconfigured to to detect whether the driver is able to operate thevehicle in the manual driving mode, on the basis of the state of thedriver sensed after the mode switching intention is detected; a drivingstate predicting unit configured to predict a driving state of thevehicle according to a possible driver's operation on the assumptionthat a driving mode of the vehicle is the manual driving mode for apreset period of time, on the basis of the fact that the driver is ableto operate the vehicle in the manual driving mode; and a control unitconfigured to switch the driving mode of the vehicle to the manualdriving mode, on the basis of the fact that the predicted driving stateof the vehicle meets a preset condition.

In an exemplary embodiment of the present disclosure, the sensing unitmay sense at least one of a position of at least one of both hands andboth feet of the driver, the driver's posture, the driver's eyes, adegree of blinking of the driver, and a degree to which the driver'seyelids cover the eyes, as a state of the driver.

In an exemplary embodiment of the present disclosure, when the vehicleis in the automatic driving mode and it is sensed that at least one ofboth hands of the driver is holding the steering wheel, the modeswitching intention detecting unit may detect the driver's modeswitching intention.

In an exemplary embodiment of the present disclosure, in a presetsituation in which the vehicle is in the automatic driving mode and aspeed is required to be controlled, when it is sensed that least one ofthe driver's both feet is laid on an accelerator or a brake in responseto the preset situation, the mode switching intention detecting unit maydetect the driver's mode switching intention.

In an exemplary embodiment of the present disclosure, the apparatus mayfurther include; a display unit configured to output an objectcorresponding to a driving mode of the vehicle.

In an exemplary embodiment of the present disclosure, after the modeswitching intention is detected, when it is sensed that the driver'seyes are bent toward a preset object output on the display unit or aparticular object recognized by an advanced driving assist system(ADAS), the operation availability detecting unit may detect that thedriver is able to operate the vehicle in the manual driving mode.

In an exemplary embodiment of the present disclosure, the preset objectmay include an object for informing the driver about a dangeroussituation around the vehicle when the vehicle is operated in the manualdriving mode.

In an exemplary embodiment of the present disclosure, after the modeswitching intention is detected, when a degree to which the driver'seyes gaze at a driving route of the vehicle meets a preset degree, theoperation availability detecting unit may determine that the driver isable to operate the vehicle in the manual driving mode.

In an exemplary embodiment of the present disclosure, the operationavailability detecting unit may calculate a degree of fatigue of thedriver on the basis of a degree of the driver's blinking and a degree towhich the driver's eyelids cover the eyes sensed after the modeswitching intention is detected, and when the calculated degree offatigue of the driver meets a preset degree, the operation availabilitydetecting unit may detect that the driver is able to operate the vehiclein the manual driving mode.

In an exemplary embodiment of the present disclosure, when the predicteddriving state of the vehicle does not meet the preset condition, thecontrol unit may maintain the driving mode of the vehicle in theautomatic driving mode.

To achieve these and other advantages and in accordance with the purposeof this specification, as embodied and broadly described herein, amethod for switching a driving mode of a vehicle which can be drivenautomatically and manually, may include: (a) detecting a mode switchingintention of the driver to switch a driving mode of the vehicle to amanual driving mode on the basis of the state of the driver sensed whenthe vehicle is in an automatic driving mode; (b) detecting whether thedriver is able to operate the vehicle in the manual driving mode, on thebasis of the state of the driver sensed after the mode switching tointention is detected; (c) predicting a driving state of the vehicleaccording to a possible driver's operation on the assumption that adriving mode of the vehicle is the manual driving mode for a presetperiod of time, on the basis of the fact that the driver is able tooperate the vehicle in the manual driving mode; and (d) switching thedriving mode of the vehicle to the manual driving mode, on the basis ofthe fact that the predicted driving state of the vehicle meets a presetcondition.

In an exemplary embodiment of the present disclosure, (a) and (b) eachmay include sensing at least one of a position of at least one of bothhands and both feet of the driver, the driver's posture, the driver'seyes, a degree of blinking of the driver, and a degree to which thedriver's eyelids cover the eyes, as a state of the driver.

In an exemplary embodiment of the present disclosure, (a) may includewhen the vehicle is in the automatic driving mode and it is sensed thatat least one of both hands of the driver is holding the steering wheel,detecting the driver's mode switching intention.

In an exemplary embodiment of the present disclosure, (a) may include:detecting the driver's mode switching intention, when it is sensed thatleast one of the driver's both feet is laid on an accelerator or a brakein response to the preset situation in a preset situation in which thevehicle is in the automatic driving mode and a speed is required to becontrolled.

In an exemplary embodiment of the present disclosure, the vehicle mayinclude a display unit configured to output an object corresponding to adriving mode of the vehicle.

In an exemplary embodiment of the present disclosure, (b) may include:after the mode switching intention is detected, when it is sensed thatthe driver's eyes are bent toward a preset object output on the displayunit or a particular object recognized by an advanced driving assistsystem (ADAS), detecting that the driver is able to operate the vehiclein the manual driving mode.

In an exemplary embodiment of the present disclosure, the preset objectmay include an object for informing the driver about a dangeroussituation around the vehicle when the to vehicle is operated in themanual driving mode.

In an exemplary embodiment of the present disclosure, (b) may include:after the mode switching intention is detected, when a degree to whichthe driver's eyes gaze at a driving route of the vehicle meets a presetdegree, determining that the driver is able to operate the vehicle inthe manual driving mode.

In an exemplary embodiment of the present disclosure, (b) may include:calculating a degree of fatigue of the driver on the basis of a degreeof the driver's blinking and a degree to which the driver's eyelidscover the eyes sensed after the mode switching intention is detected,and when the calculated degree of fatigue of the driver meets a presetdegree, detecting that the driver is able to operate the vehicle in themanual driving mode.

In an exemplary embodiment of the present disclosure, (d) may include:when the predicted driving state of the vehicle does not meet the presetcondition, maintaining the driving mode of the vehicle in the automaticdriving mode.

Further scope of applicability of the present application will becomemore apparent from the detailed description given hereinafter. However,it should be understood that the detailed description and specificexamples, while indicating preferred embodiments of the invention, aregiven by way of illustration only, since various changes andmodifications within the spirit and scope of the invention will becomeapparent to those skilled in the art from the detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the invention and are incorporated in and constitute apart of this specification, illustrate exemplary embodiments andtogether with the description serve to explain the principles of theinvention.

In the drawings:

FIG. 1 is a schematic view illustrating a vehicle according to anexemplary embodiment of the present disclosure.

FIG. 2 is a block diagram illustrating a configuration of a vehicleaccording to an exemplary embodiment of the present disclosure.

FIG. 3 is a block diagram illustrating a configuration of a telematicsterminal according to an exemplary embodiment of the present disclosure.

FIG. 4 is a block diagram illustrating a configuration of an apparatusfor switching a driving mode of a vehicle according to an exemplaryembodiment of the present disclosure.

FIG. 5 is a flow chart illustrating a method for switching a drivingmode of a vehicle according to an exemplary embodiment of the presentdisclosure.

FIG. 6 is a flow chart illustrating an embodiment of detecting adriver's mode switching intention.

FIG. 7 is a flow chart illustrating an embodiment of detecting a driveris able to drive a vehicle in a manual driving mode.

FIG. 8 is a flow chart illustrating an embodiment of switching a drivingmode of a vehicle.

FIG. 9 is a conceptual view illustrating an embodiment in which adisplay unit of the apparatus for switching a driving mode of a vehicleis positioned according to an exemplary embodiment of the presentdisclosure.

FIG. 10 is a conceptual view illustrating an embodiment for directlyconfirming an intention to switch to a manual driving mode.

DETAILED DESCRIPTION OF THE INVENTION

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention.Unless otherwise defined, all terms used herein have the same meaning ascommonly understood by one of ordinary skill in the art to which thisinvention pertains, and should not be interpreted as having anexcessively comprehensive meaning nor as having an excessivelycontracted meaning. If technical terms used herein is erroneous thatfails to accurately express the technical idea of the present invention,it should be replaced with technical terms that allow the person in theart to properly understand. The general terms used herein should beinterpreted according to the definitions in the dictionary or in thecontext and should not be interpreted as an excessively contractedmeaning.

As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”“comprising,” “includes” and/or “including” when used herein, specifythe presence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, steps, operations, elements, components, and/orgroups thereof.

It will be understood that, although the terms first, second, etc. maybe used herein to describe various elements, these elements should notbe limited by these terms. These terms are only used to distinguish oneelement from another. For example, a first element could be termed asecond element, and, similarly, a second element could be termed a firstelement, without departing from the scope of the present invention.

The exemplary embodiments of the present invention will now be describedwith reference to the accompanying drawings, in which like numbers referto like elements throughout.

In describing the present invention, if a detailed explanation for arelated known function or construction is considered to unnecessarilydivert the gist of the present invention, such explanation has beenomitted but would be understood by those skilled in the art. Theaccompanying drawings of the present invention aim to facilitateunderstanding of the present invention and should not be construed aslimited to the accompanying drawings. The technical idea of the presentinvention should be interpreted to embrace all such alterations,modifications, and variations in addition to the accompanying drawings.

FIG. 1 is a schematic view of a vehicle (for example, an electricvehicle) illustrating an exemplary embodiment of the present disclosure.

The embodiment of the present invention may also be applied to pureelectric vehicles, hybrid electric vehicles (HEV), and the like, as wellas to general vehicles (gasoline vehicles, gas vehicles, and the like).The hybrid electric vehicles (HEV) include a battery pack composed of aplurality of battery cells for receiving required power. The pluralityof battery cells included in the battery pack need to have a uniformvoltage, respectively, in order to obtain stability, improve a lifespan, and obtain a high output.

FIG. 2 is a view illustrating a configuration of a vehicle (for example,an HEV) illustrating an exemplary embodiment of the present disclosure.

As illustrated in FIG. 2, a vehicle 100 illustrating an exemplaryembodiment of the present disclosure includes an engine 101 and amotor/generator unit (M/G unit) as power sources. Driven wheels drivenby the power sources include front wheels in a front-wheel drive vehicleand rear wheels in a rear wheel drive vehicle. Hereinafter, the frontwheel drive vehicle will be described. An embodiment of the rear wheeldrive vehicle will be obvious from the following descriptions of thefront wheel drive vehicle.

The M/G unit 102 is a device selectively serving as a motor or agenerator according to a driving state, which is obvious to the skilledperson in the art. Thus, in the following descriptions, for the sake ofunderstanding, the M/G unit 102 may be used as the same title of themotor or the generator, and all of them designate the same element. Theengine 101 and the motor 102 of the electric vehicle are connected inseries to a transmission.

Also, the M/G unit 102 is driven by a signal from an inverter 104 underthe control of a motor control unit (MCU) 103.

The inverter 104 drives the M/G unit 102 as a power source by usingelectric energy stored in the battery 105 under the control of the MCU103, and when the inverter 104 drives the M/G unit 102 as a generator,the inverter 104 charges electric energy generated by the M/G unit 102to the battery 105.

Power of the engine 101 and the M/G unit 102 is transferred to thetransmission (T/M) 107 through a clutch 106, and transferred to frontwheels 109 through a final drive gear (F/R) 108. Rear wheels 110 arenon-driven wheels that are not driven by the engine 101 and the M/G unit102.

A wheel brake apparatus 111 is installed at the front wheels 109 and therear wheels 110 in order to reduce a rotation speed of the wheels. Theelectric vehicle includes a brake pedal 112 and a hydraulic controlsystem 113 for hydraulically controlling each wheel brake apparatus 111based on oil pressure generated according to manipulation of the brakepedal 112, in order to drive each wheel brake apparatus 111. Theelectric vehicle includes a brake control unit (BCU) 114 for controllingthe hydraulic control system 113 and receiving a brake control statefrom the hydraulic control system 113.

When a driver manipulates the brake pedal 112, the BCU 114 detects oilpressure generated from the hydraulic control system 113. The BCU 114calculates a braking force to be applied to the driven wheels (e.g., thefront wheels 109), a hydraulic braking force to be braked by oilpressure, and a regenerative braking force to be braked by regenerativebraking based on the detected oil pressure. Accordingly, the BCU 114supplies the calculated hydraulic braking force to the wheel brakeapparatus 111 of the front wheels 109 under the control of the hydrauliccontrol system 113.

The electric vehicle includes a hybrid electric vehicle-electroniccontrol unit (HEV-ECU) 115 communicating with the BCU 114 and the MCU103 to control them to realize an electric vehicle that performs amaximum speed limiting method.

The regenerative braking force calculated by the BCU 114 is transferredto the REV-ECU 115, and the HEV-ECU 115 controls the MCU 103 on thebasis of the received regenerative braking force. Accordingly, the MCU103 drives the M/G unit 102 as a generator such that the regenerativebraking force designated by the HEV-ECU 115 can be realized. Here,electric energy generated by the M/G unit 102 is stored in the battery105.

The electric vehicle further includes a vehicle speed detector 116 fordetecting a vehicle speed.

The HEV-ECU 115 utilizes the vehicle speed detected by the vehicle speeddetector 116 as data for controlling the BCU 114 and the MCU 103.

Also, the electric vehicle further includes a battery voltage detectingunit 117 for detecting a voltage of the battery 105. The battery voltagedetecting unit 117 detects the current voltage of the battery 105 andprovides result data to allow the HEV-ECU 115 to limit a maximum speedof the electric vehicle according to a variations of the detectedcurrent voltage and a pre-set reference voltage.

Hereinafter, a configuration of a telematics terminal 200 illustratingan exemplary embodiment of the present disclosure will be described withreference to FIG. 3.

As illustrated in FIG. 3, the telematics terminal 200 includes a mainboard 210 including a control unit (e.g., a central processing unit(CPU)) 212 for controlling the telematics terminal 200 on the whole, amemory 213 for storing various types of information, a key control unit211 for controlling various key signals, and a liquid crystal display(LCD) control unit 214 for controlling an LCD.

The memory 213 stores map information (map data) for displaying roadguidance information on a digital map. Also, the memory 213 stores atraffic information collecting control algorithm for inputting trafficinformation according to the situation of a road in which the vehiclecurrently travels (runs), and information for controlling the algorithm.

The main board 210 includes a code division multiple access (CDMA)module 206, i.e., a mobile communication terminal having a unique devicenumber as assigned and installed in the vehicle, a global positionsystem (GPS) module 207 for guiding a location of the vehicle, receivinga GPS signal for tracking a travel route from a start point to adestination, or transmitting traffic information collected by the user,as a GPS signal, a CD deck 208 for reproducing a signal recorded in a CD(Compact Disk), a gyro sensor 209, and the like. The CDMA module 206 andthe GPS module 207 transmit or receive signals via antennas 204 and 205.

A broadcast receiving module 222 is connected with the main board 210and receives a broadcast signal via an antenna 223. A display unit(i.e., an LCD) 201 under the control of the LCD control unit 214, afront board 202 under the control of the key control unit 211, and acamera 227 for capturing the interior and/or the exterior of a vehicleare connected to the main board 210 via an interface board 203. Thedisplay unit 201 displays various video signals and character signals,and the front board 202 includes buttons for various key signal inputsand provides a key signal corresponding to a button selected by the userto the main board 210. Also, the display unit 201 includes a proximitysensor and a touch sensor (touch screen) of FIG. 2.

The front board 202 includes a menu key for directly inputting trafficinformation. The menu key may be configured to be controlled by the keycontrol unit 211. An audio board 217 is connected with the main board210 and processes various audio signals. The audio board 217 includes amicrocomputer 219 for controlling the audio board 217, a tuner 218 forreceiving a radio signal, a power source unit 216 for supplying power tothe microcomputer 219, and a signal processing unit 215 for processingvarious voice signals.

The audio board 217 also includes a radio antenna 220 for receiving aradio signal and a CD deck 221 for reproducing an audio signal of acompact disc (CD). The audio board 217 may further include a voiceoutput unit (e.g., an amplifier) 226 for outputting a voice signalprocessed by the audio board 217.

The voice output unit (amplifier) 226 is connected to a vehicleinterface 224. Namely, the audio board 217 and the main board 210 areconnected to the vehicle interface 224. A handsfree 225 a for inputtinga voice signal, an airbag 225 b configured for the security of apassenger, a speed sensor 225 c for detecting a speed of the vehicle,and the like, may be connected to the vehicle interface 224. The speedsensor 225 c calculates a vehicle speed and provides the calculatedvehicle speed information to the CPU 212.

The navigation session 300 applied to the telematics ten final 200generates road guidance information on the basis of the map data andcurrent location information of the vehicle and provides the generatedroad guidance information to a user.

The display unit 201 detects a proximity touch within a display windowvia a proximity sensor. For example, when a pointer (e.g., user's fingeror a stylus) is proximity-touched, the display unit 201 detects theposition of the proximity touch and outputs position informationcorresponding to the detected position to the control unit 212.

A voice recognition device (or a voice recognition module) 301recognizes a voice pronounced by the user and performs a correspondingfunction according to the recognized voice signal.

The navigation session 300 applied to the telematics terminal 200displays a travel route on map data, and when the location of the mobileterminal 100 is within a pre-set distance from a blind spot included inthe travel route, the navigation session 300 automatically forms awireless network with a terminal mounted in an adjacent vehicle (e.g., avehicle navigation device) and/or a mobile communication terminalcarried by a nearby pedestrian through wireless communication (e.g., ashort-range wireless communication network), to receive locationinformation of the adjacent vehicle from the terminal mounted in theadjacent vehicle and receive location information of the nearbypedestrian from the mobile communication terminal carried by the nearbypedestrian.

An apparatus for switching a driving mode of a vehicle according to anexemplary embodiment of the present disclosure may be applied to anautomatic driving system according to the related art or may be appliedto the telematics terminal 200 (or a head up display (HUD)) and avehicle dashboard (or an instrument cluster). The related art automaticdriving system is disclosed in U.S. Patent Registration No. 8,825,258,and thus, detailed descriptions thereof will be omitted.

Meanwhile, if a driver, who has not adapted himself or herself enoughfor road situations, the current driving speed, and the like,immediately switches an automatic driving mode to a manual driving mode,a traffic accident may occur due to poor driving operation, or the like.

Thus, an apparatus and method whereby when a driver's intention forswitching a mode of a vehicle from an automatic driving mode to a manualdriving mode is detected, a preparation state of the driver, such aswhether the driver has adapted himself or herself for road situations,the current driving speed, and the like, is recognized, and thereafter,the automatic driving mode of the vehicle is switched to a manualdriving mode so that the driver may safely drive in the manual drivingmode will be described.

FIG. 4 is a block diagram illustrating a configuration of an apparatusfor switching a driving mode of a vehicle related to an exemplaryembodiment of the present disclosure.

Referring to FIG. 4, an apparatus 400 for switching a driving mode of avehicle according to an exemplary embodiment of the present disclosuremay include a sensing unit 410, a mode switching intention detectingunit 420, an operation availability detecting unit 430, a driving statepredicting unit 440, a control unit 450, and a display unit 460.

First, the sensing unit 410 may sense a state of a driver of a vehiclethat may be driven automatically and manually. A state of the vehicledriver may be defined by a position or a movement of a preset bodyportion with respect to the driver.

In an exemplary embodiment, the sensing unit 410 may sense at least oneof a position of at least one of both hands and both feet of the driver,the driver's posture, the driver's eyes, a degree of blinking of thedriver, and a degree to which the driver's eyelids cover the eyes, as astate of the driver.

To this end, the sensing unit 410 may be configured as a camera forcapturing an image of the driver's body and capture images of thedriver's both hands, both feet, posture, eyes, and the like.Alternatively, the sensing unit 410 may be disposed as a touch sensor ina steering wheel of the vehicle to sense at least one of both hands laidon the steering wheel.

In another exemplary embodiment, the sensing unit 410 may include adriver state monitoring (DSM) system capable of detecting the driver'sblinking, a direction of the driver's eyes, and the like, in real time.

The mode switching intention detecting unit 420 may detect the driver'smode switching intention to switch a driving mode of the vehicle to amanual driving mode, on the basis of a state of the driver sensed whenthe vehicle is in an automatic driving mode.

In an exemplary embodiment, when it is sensed that at least one of thedriver's both hands holds the steering wheel of the vehicle in theautomatic driving mode of the vehicle, the mode switching intentiondetecting unit 420 may detect the driver's mode switching intention.

In another exemplary embodiment, in case of a preset situation in whichthe vehicle is in the automatic driving mode and a speed is required tobe controlled, when it is sensed that at least one of the driver's bothfeet is laid on an accelerator or a brake in response to the presetsituation, the mode switching intention detecting unit 420 may detectthe driver's mode switching intention.

In detail, the situation in which a speed is required to be controlledmay be set to a case in which a stop signal is generated, a case inwhich the vehicle is driving on the curves, a case in which there is anobstacle is present on the road, a case in which there is a vehicledriving nearby.

In detail, while the vehicle is driving at a speed equal to or higherthan a preset speed, when a dangerous object is sensed in front of thevehicle and at least one of the driver's feet is sensed to be laid onthe brake, the mode switching intention detecting unit 420 may detectthe driver's mode switching intention.

Alternatively, while the vehicle is driving on the express way, when atleast one of the driver's feet is sensed to be laid on the accelerator,the mode switching intention detecting unit 420 may detect the driver'smode switching intention.

The display unit 460 may output an object corresponding to a drivingmode of the vehicle, and may be formed as a liquid crystal display(LCD), a thin film transistor liquid crystal display (TFT-LCD), anorganic light emitting diode, a flexible display, a 3D display, and thelike.

For example, an icon corresponding to the automatic driving mode, thecurrent driving mode of the vehicle, may be output on the display 460.Similarly, when the driving mode of the vehicle is switched, an iconcorresponding to the manual driving mode may be output on the display460.

On the basis of a state of the driver sensed after the mode switchingintention is detected, the operation availability detecting unit 430 maydetect whether the driver may operate the vehicle in the manual drivingmode.

In detail, when the driver's mode switching intention is detected by themode switching intention detecting unit 420, the sensing unit 410 sensesa position or a movement of a preset body portion with respect to thedriver, again. Subsequently, on the basis of the sensing result, theoperation availability detecting unit 430 may detect whether the drivermay be able to safely operate the vehicle in the manual driving mode.

In an exemplary embodiment, after the mode switching intention isdetected, when it is sensed that the driver's eyes are bent toward aparticular object recognized by an advanced driving assist system (ADAS)the operation availability detecting unit 430 may detect that the drivermay be able to operate the vehicle in the manual driving mode.

To this end, the sensing unit 410 may include a driver state monitoring(DSM) system capable of detecting the driver's blinking, a direction ofthe driver's eyes, and the like, in real time.

Also, a pre-set object output on the display unit 460 may include anobject for informing about a dangerous situation around the vehicle whenthe vehicle operates in the manual driving mode. For Example, the presetobject may be an alarm notification or a message output on a dashboardor a display unit.

In detail, after the mode switching intention is detected, the operationavailability detecting unit 430 may receive driver's eyes informationrecognized by the DSM system from the DSM system through a wired networkor a wireless network.

Accordingly, when a direction of the driver's eyes recognized by the DSMsystem is analyzed to be bent toward the alarm notification or messageoutput on the display unit 460, the operation availability detectingunit 430 may detect that the driver may be able to operate the vehiclein the manual driving mode.

In another specific exemplary embodiment, the operation availabilitydetecting unit 430 may receive object information (particular object)corresponding to a neighbor vehicle, a pedestrian, an obstacle, atraffic lane, a traffic signal, and the like, recognized the ADAS fromthe ADAS through a wired network or a wireless network.

Accordingly, when a direction of the driver's eyes recognized by the DSMsystem is analyzed to be bent toward the particular object recognized bythe ADAS, the operation availability detecting unit 430 may detect thatthe driver may be able to operate the vehicle in the manual drivingmode.

In another exemplary embodiment, after the mode switching intention isdetected, when a degree to which the driver keeps his or her eyes on adriving route meets a preset degree, the operation availabilitydetecting unit 430 may detect that the driver may be able to operate thevehicle in the manual driving mode.

In detail, as described above, after the mode switching intention isdetected, the operation availability detecting unit 430 may receivedriver's eyes information recognized by the DSM system from the DSMsystem through a wired network or a wireless network.

Accordingly, when it is analyzed that the driver keeps his or her eyeson the driving route of the vehicle for more than a preset period oftime as recognized by the DSM system, the operation availabilitydetecting unit 430 may detect that the driver may be able to operate thevehicle in the manual driving mode. That is, on the basis of whether thedriver keeps his or her eyes on the driving route of the vehicle formore than a preset period of time, a degree of the driver's carelessnessmay be analyzed.

In another exemplary embodiment, on the basis of a degree to which thedriver blinks or a degree to which the driver's eyelids cover thedriver's eyes sensed after the mode switching intention is detected, theoperation availability detecting unit 430 calculates a degree of fatigueof the driver, and when the calculated degree of fatigue of the drivermeets a preset degree, the operation availability detecting unit 430 maydetect that the driver may be able to operate the vehicle in the manualdriving mode.

In detail, as described above, after the mode switching intention isdetected, the operation availability detecting unit 430 may receive thedriver's eyes information recognized by the DSM system from the DSMsystem through a wired network or a wireless network.

Accordingly, the operation availability detecting unit 430 may calculatea degree of fatigue on the basis of the number of times of the driver'sblinking and a degree to which the driver's eyelids cover the driver'seyes recognized by the DSM system. On the basis of the calculated degreeof fatigue, the operation availability detecting unit 430 may determinewhether the driver drowses, or the like, and when the calculated degreeof the driver meets a preset degree, the operation availabilitydetecting unit 430 may detect that the driver may be able to operate thevehicle in the manual driving mode.

On the basis of the fact that the driver is able to operate the vehiclein the manual driving mode, the driving state predicting unit 440 maypredict a driving state of the vehicle according to a driver's operationthat may be input on the assumption that the driving mode of the vehicleis the manual driving mode for a preset period of time.

That is, in this case, the driving mode of the vehicle is not actuallyswitched to the manual driving mode, but a driving state of the vehicleon the assumption that the vehicle is operated through driver'sinputting such as the driver's operation of the handle, brake, oraccelerator for a preset period of time is predicted.

When the predicted driving state of the vehicle meets a presetcondition, the control unit 450 may switch the driving mode of thevehicle to the manual driving mode.

In detail, when the vehicle is not interfered with by a neighborvehicle, a pedestrian, an obstacle, and the like, and the vehicle isoperated, while keeping its lane and observing traffic signals accordingto the predicted driving state of the vehicle, the control unit mayswitch the driving mode of the vehicle to the manual driving mode.

In another exemplary embodiment, when the driving state of the vehicledoes not meet the preset condition, the control unit 450 may maintainthe driving mode of the vehicle in the automatic driving mode.

Also, the control unit 450 may control a general operation of the modeswitching intention detecting unit 420, the operation availabilitydetecting unit 430, a driving state predicting unit 440, and the displayunit 460.

FIG. 5 is a flow chart illustrating a method for switching a drivingmode of a vehicle according to an exemplary embodiment of the presentdisclosure.

Referring to FIG. 5, on the basis of a state of the driver sensed whenthe vehicle is in the automatic driving mode, a driver's mode switchingintention to switch the driving mode of the vehicle to the manualdriving mode is detected in step S510.

In an exemplary embodiment, prior to step S510, it may be firstdetermined whether the vehicle is in the automatic driving mode andwhether the vehicle is driving on the road in which a manual operationis available. Thus, when the vehicle is driving in the automatic drivingmode on the road in which a manual operation is available, step S510 maybe performed.

Thereafter, when it is detected that the driver is able to operate thevehicle in the manual driving mode, a driving state of the vehicleaccording to a possible driver's operation on the assumption that thedriving mode of the vehicle is the manual driving mode for apredetermined period of time is predicted in step S530.

Thereafter, when the predicted driving state of the vehicle meets apreset condition, the driving mode of the vehicle is switched to themanual driving mode in step S540.

Hereinafter, each of described in FIG. 5 will be described in moredetail. FIG. 6 is a flow chart illustrating an embodiment of detecting adriver's mode switching intention .

That is, FIG. 6 is a specific embodiment of step S510 of FIG. 5 and eachstep thereof is executed by the mode switching intention detecting unit420.

Referring to FIG. 6, when the vehicle is in the automatic driving mode,state information of the driver sensed by the sensing unit 410 isreceived in step S610.

In an exemplary embodiment, the sensing unit 410 may sense at least oneof a position of at least one of both hands and both feet of the driver,the driver's posture, the driver's eyes, a degree of blinking of thedriver, and a degree to which the eyelids cover the eyes, as a state ofthe driver.

To this end, the sensing unit 410 may include a camera, a touch sensor,a driver state monitoring (DSM) system, and the like.

In detail, the camera may capture images of the drive's both hands, bothfeet, posture, eyes, and the like, or the touch disposed in the steeringwheel of the vehicle may sense that at least one of the driver's bothhands is laid on the steering wheel of the vehicle. In another exemplaryembodiment, the sensing unit 410 may detect the driver's blinking, thedriver's eyes direction, and the like, by using the DSM system.

Thereafter, it is determined whether at least one of the driver's bothhands is holding the steering wheel of the vehicle in step S620.

When it is determined that at least one of the driver's both hands isholding the steering wheel of the vehicle in step S620 and when asituation is a preset situation in which the vehicle is in the automaticdriving mode and a speed is required to be controlled, it is determinedwhether at least one of the driver's both feet is laid on theaccelerator or the brake in response to the preset situation in stepS630.

In detail, the situation in which a speed is required to be controlledmay be set to a case in which a stop signal is generated, a case inwhich the vehicle is driving on the curves, a case in which there is anobstacle is present on the road, a case in which there is a vehicledriving nearby.

In an exemplary embodiment, while the vehicle is driving at a speedequal to or higher than a preset speed, when a dangerous object issensed in front of the vehicle, it may be determined whether at leastone of the driver's feet is laid on the brake.

In another exemplary embodiment, while the vehicle is driving on theexpress way, it may be determined whether at least one of the driver'sfeet is laid on the accelerator.

In step S630, it is determined that at least one of the driver's feet islaid on the accelerator or the brake according to a preset situation, itis determined whether a driver's posture meets a preset conditions instep S640.

In an exemplary embodiment, whether the driver sits straight up on thebasis of an image captured by the camera.

When it is determined that the driver's posture meets a preset conditionin step S640, a mode switching intention to switch the driving mode ofthe vehicle to the manual driving mode is detected from the driver.Accordingly, the mode switching intention detecting unit 420 generates acorresponding control signal in step S650.

The flow chart of FIG. 6 is an embodiment in which at least one of stepsS620, S630, and S640 may be performed or the steps S620, S630, and S640may be performed in predetermined order.

Also, even when only some of the steps are met, the drive's modeswitching intention may be detected. For example, even when one of thedriver's both hands holds the steering wheel (step S620), the driver'smode switching intention may be detected.

In another exemplary embodiment, a step for detecting the mode switchingintention may be added.

FIG. 7 is a flow chart illustrating an embodiment of detecting whetherthe driver is able to operate the vehicle in the manual driving mode.

That is, FIG. 7 is a specific embodiment of step S520 of FIG. 5, andeach step is executed by the operation availability detecting unit 430.

Referring to FIG. 7, first, a control signal corresponding to thedriver's mode switching intention generated by the mode switchingintention detecting unit 420 in step S650 of FIG. 6 is received in stepS710.

Thereafter, state information of the driver sensed by the sensing unit410 is received in step S720. In an exemplary embodiment, the sensingunit 410 may include a DSM system, and the operation availabilitydetecting unit 430 may receive driver's eyes information recognized bythe DSM system from the DSM system through a wired network or a wirelessnetwork.

Thereafter, it is determined whether the driver has recognized asituation around the vehicle in step S730.

In an exemplary embodiment, the operation availability detecting unit430 may determine whether a direction of the driver's eyes recognized bythe DSM system are bent toward the alarm notification or message outputon the display unit 460 or the dashboard.

In another exemplary embodiment, the operation availability detectingunit 430 may receive object information (particular object)corresponding to a neighbor vehicle, a pedestrian, an obstacle, atraffic lane, a traffic signal, and the like, recognized the ADAS fromthe ADAS through a wired network or a wireless network.

Accordingly, the operation availability detecting unit 430 may determinewhether a direction of the driver's eyes recognized by the DSM system isbent toward the particular object recognized by the ADAS.

When it is determined that the driver has recognized a situation aroundthe vehicle in step S730, the driver's power of attention and a degreeof fatigue are analyzed to determine whether the driver may be able tooperate the vehicle in the manual driving mode in step S740. That is, itis determined whether the vehicle may be stably operated by the drivereven when the vehicle is switched to the manual driving mode.

In an exemplary embodiment, the when it is analyzed that the driver'seyes recognized by the DSM system gaze at a driving route of the vehiclefor more than a preset period of time, the operation availabilitydetecting unit 430 may determine that the driver is able to operate thevehicle in the manual driving mode. That is, a degree of the power ofattention (carelessness) of the driver is analyzed, and whether thedriver is able to operate the vehicle in the manual driving mode isdetermined on the basis of the analyzed degree of the power of attention(carelessness).

In another exemplary embodiment, the operation availability detectingunit 430 may calculate the degree of the driver on the basis of thenumber of times of driver's blinking, a degree to which the driver's eyelids cover the eyes (the iris or the pupil), a time during which thedriver's eye lids cover the eyes, and the like, recognized by the DSMsystem. On the basis of the calculated degree of fatigue, the operationavailability detecting unit 430 may determine whether the driverdrowses, and when the calculated degree of driver's fatigue meets apreset degree, the operation availability detecting unit 430 maydetermine that the driver is able to operate the vehicle in the manualdriving mode.

When it is determined that the driver is able to operate the vehicle inthe manual driving mode in step S740, the operation availabilitydetecting unit 430 generates a corresponding control signal in stepS750.

The flow chart of FIG. 7 is an embodiment of the present disclosure, inwhich steps S730 and S74 may be simultaneously performed or step S740may be performed first.

Also, even when only one of the steps is met, it may be determined thatthe driver is able to operate the vehicle in the manual mode. Forexample, even only when the driver recognizes all the situations aroundthe vehicle (step S730), it may be determined that the driver is able tooperate the vehicle in the manual driving mode.

In another exemplary embodiment, another step may be added to determinewhether the vehicle is operable in the manual driving mode.

FIG. 8 is a flow chart illustrating an embodiment of switching a drivingmode of a vehicle.

That is, FIG. 8 is a specific embodiment of steps S530 and S540 of FIG.5, and each step is executed by the driving state predicting unit 440and the control unit 450.

Referring to FIG. 8, first, a control signal indicating whether thedriver is able to drive the vehicle in the manual driving mode,generated by the operation availability detecting unit 430 is receivedin step S810.

Next, a driving state of the vehicle according to a possible driver'soperation on the assumption that the driving mode of the vehicle is amanual driving mode for a preset period of time is predicted in stepS820.

In detail, the driving mode of the vehicle is not actually switched tothe manual driving mode, but a driving state of the vehicle on theassumption that the vehicle is operated through driver's inputting suchas a driver's operation of the handle, brake, or accelerator for apreset period of time, is predicted.

Thereafter, it is determined whether the predicted driving state of thevehicle meets a preset condition in step S830.

In detail, the preset condition may be set to a condition in which thevehicle is not interfered with by a neighbor vehicle, a pedestrian, anobstacle, and the like, and the vehicle is operated, while keeping hisor her lane and observing traffic signals. For example, in step S830, itmay be determined whether the driving state of the vehicle predicted instep S820 is that the vehicle is not interfered with by a neighborvehicle, a pedestrian, an obstacle, and the like, and the vehicle isoperated, while keeping its lane and observing traffic signals.

When it is determined that the predicted driving state of the vehicledoes not meet the preset condition in step S830, the driving mode of thevehicle is maintained in the automatic driving mode in step S860.

Meanwhile, when it is determined that the predicted driving state of thevehicle meets the preset condition in step S830, the driver is inquiredas to whether he or she agrees with the switching to the manual drivingmode in step S840.

In an exemplary embodiment, a message window inquiring whether thedriver agrees with switching to the manual driving mode may be output onthe display unit 460. Thus, the driver may agree or disagree with theswitching to the manual driving mode by applying a touch input to anagreement icon or a cancel/reject icon output on the message window.

When the driver agrees with the switching to the manual driving mode instep S840, the control unit 450 switches the driving mode of the vehiclefrom the automatic driving mode to the manual driving mode in step S850.

That is, when it is predicted that the vehicle will safely operated andthe driver directly confirms the manual driving intention, authority tocontrol the vehicle is given to the driver finally.

Meanwhile, when the driver does not agree with the switching to themanual driving mode in step S840, the driving mode of the vehicle ismaintained in the automatic driving mode in step S860.

Hereinafter, step S840 of FIG. 8, that is, an embodiment related todirectly inquiring about a mode switching intention of the driver willbe described.

FIG. 9 is a conceptual view illustrating an embodiment in which adisplay unit of the apparatus for switching a driving mode of a vehicleis positioned according to an exemplary embodiment of the presentdisclosure.

Referring to FIG. 9, the display unit 460 of the apparatus 400 forswitching a driving mode of a vehicle according to an exemplaryembodiment of the present disclosure, the display unit 460 may bedisposed in a certain position within a vehicle and output imageinformation (visual information). For example, the display unit 460 mayoutput visual information such as a road guidance screen, a location ofa vehicle during parking, a speed of the vehicle during operation,information such as a time, weather, and the like, schedule information,information regarding music being played, a music play control screen, acontrol screen for adjusting an air-conditioner or a heater(air-conditioning control screen0, and the like.

In an exemplary embodiment, the display unit 460 may be positioned inthe center of the dashboard of the vehicle, and may be disposed in aregion of a center fascia 910 as a control panel board or a dashboard920 present between the driver's seat and a passenger seat.

FIG. 10 is a conceptual view illustrating an embodiment for directlyconfirming an intention to switch to a manual driving mode.

Referring to FIG. 10, a message window 1010 asking whether to switch thedriving mode of the vehicle to the manual driving mode may be output onthe display unit 460 of the apparatus 400 for switching a driving modeof a vehicle according to an exemplary embodiment of the presentdisclosure. Here, a confirmation icon 1020 for agreeing with switchingto the manual driving mode and a cancel icon 1030 for disagreeing withthe switching to the manual driving mode may be output on the messageswindow 1010.

In an exemplary embodiment, when the driver applies a touch input to theconfirmation icon 1020, the driving mode of the vehicle may be switchedfrom the automatic driving mode to the manual driving mode. Meanwhile,when the driver applies a touch input to the cancel icon 1030, thedriving mode of the vehicle may be maintained in the automatic drivingmode.

That is, in step S840 of FIG. 8, the message window 1010 described abovewith reference to FIG. 10 may be output.

The apparatus for switching a driving mode of a vehicle and the methodthereof according to an exemplary embodiment of the present disclosurehas the following advantages.

According to at least one of the exemplary embodiments of the presentdisclosure, even though a control command for switching a mode is notdirectly input from a driver, a mode switching intention of the drivermay be automatically detected.

Also, according to at least one of the exemplary embodiments of thepresent disclosure, whether to switch a driving mode may be determinedby determining whether the vehicle is able to be safely operated whenswitched to the manual driving mode.

As a result, a problem arising as a control command for switching adriving mode is input against the driver's intention may be solved. Forexample, a problem in which the driving mode is switched even when thedriver presses a driving mode switching button or inputs a voice controlcommand by mistake, may be solved.

The foregoing embodiments and advantages are merely exemplary and arenot to be considered as limiting the present disclosure. The presentteachings can be readily applied to other types of apparatuses. Thisdescription is intended to be illustrative, and not to limit the scopeof the claims. Many alternatives, modifications, and variations will beapparent to those skilled in the art. The features, structures, methods,and other characteristics of the exemplary embodiments described hereinmay be combined in various ways to obtain additional and/or alternativeexemplary embodiments.

As the present features may be embodied in several forms withoutdeparting from the characteristics thereof, it should also be understoodthat the above-described embodiments are not limited by any of thedetails of the foregoing description, unless otherwise specified, butrather should be considered broadly within its scope as defined in theappended claims, and therefore all changes and modifications that fallwithin the metes and bounds of the claims, or equivalents of such metesand bounds are therefore intended to be embraced by the appended claims.

What is claimed is:
 1. An apparatus configured to switch a driving mode of a vehicle comprising: a sensing unit configured to sense a state of a driver of a vehicle that is configured to be driven automatically or manually; a intention detecting unit configured to detect whether or not the driver intends to switch a driving mode of the vehicle from an automatic driving mode to a manual driving mode based on the state of the driver sensed by the sensing unit when the vehicle is being driven in the automatic driving mode; an operation detecting unit configured to detect whether the driver is able to operate the vehicle in the manual driving mode using the state of the driver sensed by the sensing unit based on the intention detecting unit detecting that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode; a driving state predicting unit configured to predict a driving state of the vehicle according to manual driver operation in the manual driving mode for a preset period of time based on the operation availability detecting unit detecting that the driver is able to operate the vehicle in the manual driving mode; and a control unit configured to determine whether the predicted driving state of the vehicle meets a preset condition and switch the driving mode of the vehicle from the automatic driving mode to the manual driving mode based on a determination that the predicted driving state of the vehicle meets the preset condition.
 2. The apparatus of claim 1, wherein the sensing unit is configured to sense at least one of a position of both hands or both feet of the driver, the driver's posture, the driver's eyes, a degree of blinking of the driver, or a degree to which the driver's eyelids cover the eyes.
 3. The apparatus of claim 2, wherein the intention detecting unit is configured to detect that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode based on the sensing unit sensing that at least one hand of the driver is holding the steering wheel in the automatic driving mode.
 4. The apparatus of claim 2, wherein the intention detecting unit is configured to detect that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode based on the sensing unit sensing that at least one foot of the driver is laid on an accelerator or a brake in a situation in which the vehicle is in the automatic driving mode and a speed is required to be controlled.
 5. The apparatus of claim 2, further comprising: a display unit configured to output an object corresponding to a driving mode of the vehicle.
 6. The apparatus of claim 5, wherein the operation detecting unit is configured to detect that the driver is able to operate the vehicle in the manual driving mode based on the sensing unit sensing that the driver's eyes are looking toward a preset object output on the display unit or a particular object recognized by an advanced driving assist system (ADAS).
 7. The apparatus of claim 6, wherein the preset object includes an object that informs the driver about a dangerous situation around the vehicle based on the vehicle being operated in the manual driving mode.
 8. The apparatus of claim 2, wherein the sensing unit is configured to sense the driver's eye gaze, and wherein the operation detecting unit is configured to determine whether a degree to which the sensed eye gaze aligns with a driving route of the vehicle meets a threshold degree and determine that the driver is able to operate the vehicle in the manual driving mode based on a determination that the degree to which the sensed eye gaze aligns with the driving route of the vehicle meets the threshold degree.
 9. The apparatus of claim 2, wherein the operation detecting unit is configured to calculate a degree of fatigue of the driver based on a degree of the driver's blinking and a degree to which the driver's eyelids cover the eyes, determine whether the calculated degree of fatigue of the driver meets a threshold degree, and detect that the driver is able to operate the vehicle in the manual driving mode based on a determination that the calculated degree of fatigue of the driver meets the threshold degree.
 10. The apparatus of claim 1, wherein the control unit is configured to maintain the driving mode of the vehicle in the automatic driving mode based on a determination that the predicted driving state of the vehicle does not meet the preset condition.
 11. A method for switching a driving mode of a vehicle configured to be driven automatically or manually, the method comprising: sensing, by a sensing unit, a state of a driver of a vehicle that is configured to be driven automatically or manually; detecting whether or not the driver intends to switch a driving mode of the vehicle from an automatic driving mode to a manual driving mode based on the state of the driver sensed by the sensing unit when the vehicle is being driven in the automatic driving mode; detecting whether the driver is able to operate the vehicle in the manual driving mode using the state of the driver sensed by the sensing unit based on detecting that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode; predicting a driving state of the vehicle according to manual driver operation in the manual driving mode for a preset period of time based on detecting that the driver is able to operate the vehicle in the manual driving mode; determining, by a control unit, whether the predicted driving state of the vehicle meets a preset condition; and switching, by the control unit, the driving mode of the vehicle from the automatic driving mode to the manual driving mode based on a determination that the predicted driving state of the vehicle meets the preset condition.
 12. The method of claim 11, wherein sensing the state of the driver of the vehicle comprises sensing at least one of a position of both hands or both feet of the driver, the driver's posture, the driver's eyes, a degree of blinking of the driver, or a degree to which the driver's eyelids cover the eyes.
 13. The method of claim 12, wherein detecting whether or not the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode comprises detecting that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode based on the sensing unit sensing that at least one hand of the driver is holding the steering wheel in the automatic driving mode.
 14. The method of claim 12, wherein detecting whether or not the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode comprises detecting that the driver intends to switch a driving mode of the vehicle from the automatic driving mode to the manual driving mode based on the sensing unit sensing that at least one foot of the driver is laid on an accelerator or a brake in a situation in which the vehicle is in the automatic driving mode and a speed is required to be controlled.
 15. The method of claim 12, further comprising: outputting, on a display unit, an object corresponding to a driving mode of the vehicle.
 16. The method of claim 15, wherein detecting whether the driver is able to operate the vehicle in the manual driving mode comprises detecting that the driver is able to operate the vehicle in the manual driving mode based on the sensing unit sensing that the driver's eyes are looking toward a preset object output on the display unit or a particular object recognized by an advanced driving assist system (ADAS).
 17. The method of claim 16, wherein the preset object includes an object that informs the driver about a dangerous situation around the vehicle based on the vehicle being operated in the manual driving mode.
 18. The method of claim 12, wherein sensing the state of the driver of the vehicle comprises sensing the driver's eye gaze, and wherein detecting whether the driver is able to operate the vehicle in the manual driving mode comprises determining whether a degree to which the sensed eye gaze aligns with a driving route of the vehicle meets a threshold degree and determining that the driver is able to operate the vehicle in the manual driving mode based on a determination that the degree to which the sensed eye gaze aligns with the driving route of the vehicle meets the threshold degree.
 19. The method of claim 12, wherein detecting whether the driver is able to operate the vehicle in the manual driving mode comprises calculating a degree of fatigue of the driver based on a degree of the driver's blinking and a degree to which the driver's eyelids cover the eyes, determining whether the calculated degree of fatigue of the driver meets a threshold degree, and detecting that the driver is able to operate the vehicle in the manual driving mode based on a determination that the calculated degree of fatigue of the driver meets the threshold degree.
 20. The method of claim 11, further comprising maintaining the driving mode of the vehicle in the automatic driving mode based on a determination that the predicted driving state of the vehicle does not meet the preset condition. 